No one on here can tell you the best way for you, as every body is different when it comes to things like this, and the best suggestion is probably just to experiment with yourself until you find what works.

For the majority of women, clitoral stimulation is the most enjoyed way of doing it, and this can be done in some many different ways. There's a whole other group of women who prefer the infamous "g spot" stimulation.

As far as clitoral stimulation goes, my advice is to start slow and gentle, gradually working on increasing the pace and/or force as you feel you want to. You could also try doing this in the bath/shower, as I tend to find that this can feel better. Whereas in terms of "g spot", you'd need to try using your finger(s), and do a "come hither" motion with it/them. The g spot, when lying on your back, should be about 3inches(ish) inside, on the upper part (the side closest to your stomach?) so you need to stimulate there. If you're unsure about how to find your g spot, it's where I described, and feels different to the rest of you, some people describe it as a walnut type thing. Hopefully this helps.